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--- projects:g3:start [2014/04/30 03:32] – cse93178
+++ projects:g3:start [2014/04/30 03:41] – cse93178
@@ Line 185: / Line 185: @@
 This specific subsystem deals with planning out the motion of the arm not only to make the arm reach its desired destination but also to make sure that the arm does not find itself in compromising situations whereby its movement are going to be hindered. The flow chart for this system is shown below:\\
-{{http://i.imgur.com/bLewt6Z.png?700x500|VeeNnverseKinematics}}
+{{http://i.imgur.com/bLewt6Z.png?700x600|VeeNnverseKinematics}}
 \\
@@ Line 202: / Line 202: @@
 As you can see, the last figure shows the solution to the inverse kinematics.
-=== Arm Design and Hardware Integration ===
+=== Arm Design and Hardware Integration (Motion Control) ===
-Our robotic arm is different than any other arms in the sense that it has more flexibility due to more number of links. The total length of the arm is 1.3 meter!. Most robotic arms are half of that and contains only two links (3 joints). Our arm offers 6 DOF and uses AX-18 servos for better performance.
+Our robotic arm is different than any other arms in the sense that it has more flexibility due to more number of links. The total length of the arm is 1.3 meter!. Most robotic arms are half of that and contains only two links (3 joints). Our arm offers 6 DOF and uses AX-18 servos for better performance. The flows diagram of the ICCE system (Motion control) is shown below: \\
+{{http://i.imgur.com/hcRPxt0.png?700x500|ICCE}}
@@ Line 216: / Line 218: @@
 {{http://i.imgur.com/1pbuSzL.jpg?700x500|Voice recognition, improved}} \\
 The figure below shows communication between two blocks (the vision module and the voice recognition module) and inverse kinematics calculation.  \\